This paper wants to propose an original approach to the complete Orienteering Problem based on a hybrid control formulation using dynamical programming techniques and semiLagrangian numerical approximation. In particular, we model the player's strategic choice as the optimization of a trajectory across a given 2D domain where an additional discrete state records the visited checkpoints. This model shares various similarities with the “Optimal Visiting Problem”, as proposed in [1]}, and also discussed in [2]}, [3]}, where other aspects of the framework are explored.
